Changelog

Upcoming

1.8.0

Trossen Arm Driver

• Added a new trossen_arm::Mode::effort mode. It allows commanding the effort of the joints without any built-in compensation like in the trossen_arm::Mode::external_effort mode. This mode is useful for applications where full control of the joint efforts is desired.

• Grouped the outputs into a single new class trossen_arm::RobotOutput and added the additional fields below:

  • trossen_arm::RobotOutput::Joint::All::compensation_efforts

  • trossen_arm::RobotOutput::Joint::All::rotor_temperatures

  • trossen_arm::RobotOutput::Joint::All::driver_temperatures

  • trossen_arm::RobotOutput::Cartesian::positions

  • trossen_arm::RobotOutput::Cartesian::velocities

  • trossen_arm::RobotOutput::Cartesian::external_efforts

• Added helpful output getters to extract the members of trossen_arm::RobotOutput.

  • trossen_arm::TrossenArmDriver::get_all_positions()

  • trossen_arm::TrossenArmDriver::get_arm_positions()

  • trossen_arm::TrossenArmDriver::get_gripper_position()

  • trossen_arm::TrossenArmDriver::get_joint_position()

  • trossen_arm::TrossenArmDriver::get_cartesian_positions()

  • trossen_arm::TrossenArmDriver::get_all_velocities()

  • trossen_arm::TrossenArmDriver::get_arm_velocities()

  • trossen_arm::TrossenArmDriver::get_gripper_velocity()

  • trossen_arm::TrossenArmDriver::get_joint_velocity()

  • trossen_arm::TrossenArmDriver::get_cartesian_velocities()

  • trossen_arm::TrossenArmDriver::get_all_efforts()

  • trossen_arm::TrossenArmDriver::get_arm_efforts()

  • trossen_arm::TrossenArmDriver::get_gripper_effort()

  • trossen_arm::TrossenArmDriver::get_joint_effort()

  • trossen_arm::TrossenArmDriver::get_all_external_efforts()

  • trossen_arm::TrossenArmDriver::get_arm_external_efforts()

  • trossen_arm::TrossenArmDriver::get_gripper_external_effort()

  • trossen_arm::TrossenArmDriver::get_joint_external_effort()

  • trossen_arm::TrossenArmDriver::get_cartesian_external_efforts()

  • trossen_arm::TrossenArmDriver::get_all_compensation_efforts()

  • trossen_arm::TrossenArmDriver::get_arm_compensation_efforts()

  • trossen_arm::TrossenArmDriver::get_gripper_compensation_effort()

  • trossen_arm::TrossenArmDriver::get_joint_compensation_effort()

  • trossen_arm::TrossenArmDriver::get_all_rotor_temperatures()

  • trossen_arm::TrossenArmDriver::get_arm_rotor_temperatures()

  • trossen_arm::TrossenArmDriver::get_gripper_rotor_temperature()

  • trossen_arm::TrossenArmDriver::get_joint_rotor_temperature()

  • trossen_arm::TrossenArmDriver::get_all_driver_temperatures()

  • trossen_arm::TrossenArmDriver::get_arm_driver_temperatures()

  • trossen_arm::TrossenArmDriver::get_gripper_driver_temperature()

  • trossen_arm::TrossenArmDriver::get_joint_driver_temperature()

  The old getters are deprecated and will be removed in the next major release.

  • trossen_arm::TrossenArmDriver::get_positions()

  • trossen_arm::TrossenArmDriver::get_velocities()

  • trossen_arm::TrossenArmDriver::get_efforts()

  • trossen_arm::TrossenArmDriver::get_external_efforts()

  • trossen_arm::TrossenArmDriver::get_compensation_efforts()

• Added methods for commanding Cartesian inputs with respect to a tool frame. These features are demonstrated in the scripts listed below:

  • cartesian_position

  • cartesian_velocity

  • cartesian_external_effort

• Added the capability to soft reboot the controller via the driver. This feature is demonstrated in set_factory_reset_flag.

• Added more configurations and revised some previous ones.

  • Added

    • Joint Limits

    • Motor Parameters

    • Algorithm Parameter

    • trossen_arm::EndEffector::pitch_circle_radius

    • trossen_arm::EndEffector::t_flange_tool

  • Removed

    • continuity_factor in trossen_arm::JointCharacteristic

    • t_max_factor in trossen_arm::EndEffector

• Made driver-controller connection more user-friendly with retry, timeout, and allowing interruption.

• For C++ users, double is now used instead of float for all the data types. This improves compatibility with other modern libraries.

Trossen Arm Controller Firmware

• Added the associated interface for the new effort mode.

• Added rotor and driver temperatures to the output.

• Added the associated interface for soft reboot.

• Exposed the associated interfaces for the new configurations.

• Added checks on outputs according to the joint limits and on inputs for infinite values.

• Removed deprecated continuity check.

• The connection, disconnection, and data exchange is now handled more robustly.

  • UDP is only used for control and TCP handles the rest of the communication.

  • The controller now return to idle mode if the connection is lost.

  • The controller now only accept one driver at a time.

• Revised default configurations to more reasonable values, more specifically

  • Joint Limits

  • Motor Parameters